Research Of Joint Control And Trajectory Optimizing Of Repairing Manipulator In Heat Conduction Tube

Six-DOF Manipulator is used to examine and repair the bow wave in the heat conduction tube, heat conduction ultrasound, and the water room surface. It can improve the working condition and the automation level in the nuclear power station.The designing of the manipulator control system based on practice project in this dissertation is introduced. The controller designing of control system and optimizing the demonstrating trajectory is presented.Firstly, the development of manipulator for steam generator and control system interiorly and overseas are introduced.Secondly, PID controller was elaborated and implemented in manipulator control system. Besides, to improve the stability and particularity, the controller was optimized based on problem in practice.Meanwhile, the method of collecting data of manipulator accurately and implementing communication between controller and control station efficiently were described.Afterward, trajectory which was gained by technical staff demonstrating was optimized. It could simplify the complexity of path planning and strengthen the security when the manipulator is working,Finally, based on the collected data, MATLAB figures were produced. According to these, it could be implemented that comparing and analyzing the curve and data between the trajectories optimized before and after. And the conclusion could be gained.